Optics for video cameras on a surgical visualization system

Abstract

A surgical device includes a plurality of cameras integrated therein. The view of each of the plurality of cameras can be integrated together to provide a composite image. A surgical tool that includes an integrated camera may be used in conjunction with the surgical device. The image produced by the camera integrated with the surgical tool may be associated with the composite image generated by the plurality of cameras integrated in the surgical device. The position and orientation of the cameras and/or the surgical tool can be tracked, and the surgical tool can be rendered as transparent on the composite image. A surgical device may be powered by a hydraulic system, thereby reducing electromagnetic interference with tracking devices.

What is claimed is:  
     
       1. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor; and 
 a stop forward said imaging optics, 
 wherein said imaging optics comprises wafer-scale optics, 
 wherein said sensor is proximal said imaging optics with said imaging optics between said stop and said sensor, and 
 wherein said stop is the most distal optical element of said camera. 
 
     
     
       2. The medical apparatus of  claim 1 , further comprising a movable optical element within said imaging optics. 
     
     
       3. The medical apparatus of  claim 2 , wherein said movable optical element is within said wafer-scale optics. 
     
     
       4. The medical apparatus of  claim 1 , wherein said wafer-scale optics includes a movable optical element configured to be moved to adjust said imaging optics. 
     
     
       5. The medical apparatus of  claim 4 , further comprising an actuator configured to move said movable optical element to adjust said imaging optics. 
     
     
       6. The medical apparatus of  claim 1 , wherein said wafer-scale optics comprises a stack of wafer scale optics elements having air gaps therebetween, wherein said air gaps are in fluid communication with each other. 
     
     
       7. The medical apparatus of  claim 1 , wherein said imaging optics are configured to be disposed laterally with respect to said optical sensor to provide camera pointing. 
     
     
       8. The medical apparatus of  claim 7 , further comprising actuators to move said imaging optics laterally with respect to said optical sensor to provide camera pointing. 
     
     
       9. The medical apparatus of  claim 7 , further comprising actuators to move said optical sensor laterally with respect to said imaging optics to provide camera pointing. 
     
     
       10. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor; 
 a stop; and 
 a cover plate, said stop disposed between said cover plate and said wafer-scale optics, said cover plate comprising sapphire, 
 wherein said imaging optics comprises wafer-scale optics, 
 wherein said stop is just prior to said wafer-scale optics. 
 
     
     
       11. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises wafer-scale optics and non-wafer-scale lens elements, 
 wherein said imaging optics comprises a negative power non-wafer-scale lens element. 
 
     
     
       12. The medical apparatus of  claim 11 , wherein said negative power non-wafer-scale lens element is disposed forward any wafer-scale optics such that said wafer-scale optics is disposed in an optical path between said negative power non-wafer-scale lens element and said optical sensor. 
     
     
       13. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises wafer-scale optics, and 
 wherein said imaging optics comprises a negative lens group, a stop, and a positive lens group arranged in an optical path forward of said optical sensor such that said stop and said positive group are disposed between said negative lens group and said optical sensor. 
 
     
     
       14. The medical apparatus of  claim 13 , wherein said stop is between said negative lens group and said positive lens group. 
     
     
       15. The medical apparatus of  claim 13 , wherein said imaging optics provides a field of view of at least 70° and up to 125°. 
     
     
       16. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises non-wafer-scale optics, a stop, and wafer-scale optics, 
 wherein said non-wafer scale optics comprises negative optical power and said wafer-scale optics comprise positive optical power. 
 
     
     
       17. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises wafer-scale optics, a stack of non-wafer-scale optics lenses having negative power, a stop, and a positive lens group. 
 
     
     
       18. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises wafer-scale optics, and 
 wherein said imaging optics comprises a front stop, a positive lens, a negative lens, and a plurality of lenses having positive power disposed in an optical path such that the negative lens is between the positive lens and the plurality of lenses having positive power. 
 
     
     
       19. The medical apparatus of  claim 18 , wherein said imaging optics provides a field of view between about 50°-70°. 
     
     
       20. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises a front stop and four wafer-scale optics lenses. 
 
     
     
       21. The medical apparatus of  claim 20 , wherein said imaging optics comprises no more than four wafer-scale optics lenses. 
     
     
       22. The medical apparatus of  claim 21 , wherein said imaging optics provides a field of view between about 50°-70°. 
     
     
       23. A medical apparatus comprising:
 a surgical retractor; 
 at least one video camera comprising imaging optics and an optical sensor, said at least one camera disposed on said surgical retractor, 
 wherein said imaging optics comprises wafer-scale optics, 
 wherein said wafer scale optics comprise fiducials on plates that provide stress to counteract bowing. 
 
     
     
       24. The medical apparatus of  claim 23 , wherein said fiducials are interlocking.